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#ifndef TRAJECTORY_ROLLOUT_MAP_CELL_H_
#define TRAJECTORY_ROLLOUT_MAP_CELL_H_

#include <base_local_planner/trajectory_inc.h>

namespace base_local_planner
{
/**
 * @class MapCell
 * @brief Stores path distance and goal distance information used for scoring trajectories
 */
class MapCell
{
public:
    /**
     * @brief  Default constructor
     */
    MapCell() : cx(0), cy(0), target_dist(DBL_MAX), target_mark(false), within_robot(false) {}

    /**
     * @brief  Copy constructor
     * @param mc The MapCell to be copied
     */
    MapCell(const MapCell &mc) :
            cx(mc.cx), cy(mc.cy), target_dist(mc.target_dist), target_mark(mc.target_mark), within_robot(mc.within_robot) {}

    unsigned int cx, cy; // Cell index in the grid map 网格图中的单元格索引
    double target_dist;  // Distance to planner's path 到规划器路径的距离 初始化为无穷大
    bool target_mark;    // Marks for computing path/goal distances 用于计算路径/目标距离的标记
    bool within_robot;   // Mark for cells within the robot footprint 标记机器人足迹内的单元格
};
};

#endif
